Robot tail end driver and robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot tail end driver and a robot. The robot comprises a ball spline and a spline nut, the ball spline is used for being connected to a joint body of the robot, the spline nut is arranged on the ball spline in a sleeving mode and connected with the ball spline, the robot tail end driver comprises a speed reducer and a driving part, and the speed reducer comprises a steel wheel, a flexible wheel, a wave generator and a first bearing. The steel wheel is used for being connected to the joint body, and the flexible wheel is rotatably connected into the steel wheel and used for being fixedly connected to the spline nut. The wave generator is sleeved outside the ball spline, and a mounting space is formed between the flexible gear and the wave generator. The first bearing is connected between the flexible gear and the wave generator and located in the installation space. The driving part is in transmission connection with the wave generator and used for driving the wave generator to rotate, and the driving part and the ball spline are arranged at intervals. According to the robot tail end driver, the axial size of the ball spline is reduced, and the working space of the ball spline is increased.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and particularly relates to a robot end effector and a robot. Background Art

[0002] A SCARA robot (assembly robot) is a cylindrical coordinate type industrial robot, which has the characteristics of high working efficiency and reliable operation, and is widely used in the assembly industry. In the fields of automation and intelligent devices, occasions where the main shaft can rotate around the axis and move linearly along the axis are often used.

[0003] A speed reducer is a core component in an industrial robot. Especially in the structure of a large SCARA robot, a speed reducer is usually required for the fourth axis to increase the load and inertia of the robot. For example, in the robot described in the Chinese patent with the authorization announcement number CN103085058B, the motor and the speed reducer of the robot are concentrated at the end of the robot, and the structures of the motor and the speed reducer are arranged in sequence along the axial direction of the fourth axis, increasing the axial dimension of the fourth axis, and thus increasing the arm body dimension of the entire robot. Summary of the Utility Model

[0004] The present application provides a robot end effector, and the present application also provides a robot having the above robot end effector.

[0005] In a first aspect, the present application provides a robot end effector, which is applied to a robot. The robot includes a ball spline and a spline nut. The ball spline is used to connect to the joint body of the robot. The spline nut is sleeved on the ball spline and connected to the ball spline. The robot end effector includes a speed reducer and a driving member. The speed reducer includes a steel wheel, a flexible wheel, a wave generator, and a first bearing. The steel wheel is used to connect to the joint body. The flexible wheel is rotatably connected inside the steel wheel and is used to fixedly connect to the spline nut. The wave generator is rotatably connected inside the flexible wheel. The wave generator is provided with a hollow hole, and the wave generator is sleeved outside the ball spline through the hollow hole. An installation space is formed between the flexible wheel and the wave generator. The first bearing is connected between the flexible wheel and the wave generator and is located in the installation space. The driving member is in transmission connection with the wave generator and is used to drive the wave generator to rotate. The driving member is adapted to be spaced apart from the ball spline.

[0006] In some optional examples, the robot end effector further includes a first fixing seat, which is used to connect to the joint body. The first fixing seat is sleeved outside the wave generator, and the steel wheel is fixedly connected to the first fixing seat.

[0007] In some optional examples, the robot end effector further includes a first oil seal and a second bearing. The first oil seal is arranged between the first fixing seat and the wave generator, and the first oil seal is sleeved outside the wave generator; the second bearing is arranged between the first fixing seat and the wave generator, and the second bearing is sleeved outside the wave generator.

[0008] In some alternative examples, the wave generator has opposite first and second ends. The wave generator is provided with a first oil seal mounting portion and a second bearing mounting portion. The first oil seal mounting portion is disposed at the first end, and the second bearing mounting portion is located on a side of the first oil seal mounting portion closer to the second end. The first oil seal is mounted on the first oil seal mounting portion, and the second bearing is mounted on the second bearing mounting portion.

[0009] In some alternative examples, the diameter of the first oil seal mounting portion is equal to the diameter of the second bearing mounting portion; or, the diameter of the first oil seal mounting portion is smaller than the diameter of the second bearing mounting portion, and the difference between the diameter of the first oil seal mounting portion and the diameter of the second bearing mounting portion is less than or equal to 0.1 mm.

[0010] In some alternative examples, the robot end effector further includes a second fixed seat, and the second fixed seat is sleeved outside the wave generator and fixedly connected to the flexspline.

[0011] In some alternative examples, the robot end effector further includes a second oil seal and a third bearing. The second oil seal is disposed between the second fixed seat and the wave generator, and the second oil seal is sleeved outside the wave generator. The third bearing is disposed between the second fixed seat and the wave generator, and the third bearing is sleeved outside the wave generator.

[0012] In some alternative examples, the robot end effector further includes a second oil seal and a third bearing. The second oil seal is disposed between the second fixed seat and the wave generator, and the second oil seal is sleeved outside the wave generator. The third bearing is disposed between the second fixed seat and the wave generator, and the third bearing is sleeved outside the wave generator.

[0013] In some alternative examples, the diameter of the second oil seal mounting portion is equal to the diameter of the third bearing mounting portion; or, the diameter of the second oil seal mounting portion is smaller than the diameter of the third bearing mounting portion, and the difference between the diameter of the second oil seal mounting portion and the diameter of the third bearing mounting portion is less than or equal to 0.1 mm.

[0014] In some alternative examples, both the second oil seal and the third bearing are disposed in the installation space.

[0015] In some alternative examples, the robot end effector further includes a synchronous belt and two synchronous belt pulleys. The driving member is used to connect to the joint body. One synchronous belt pulley is drivingly connected to the driving member, and the other synchronous belt pulley is non-rotatably connected to the wave generator. The synchronous belt is connected between the two synchronous belt pulleys.

[0016] In a second aspect, an embodiment of the present application further provides a robot, including a joint body and the above-mentioned robot end effector, and the robot end effector is connected to the joint body.

[0017] Compared with the prior art, when the robot using the robot end driver provided by the embodiment of the present application is in use, the driving member drives the wave generator to rotate relative to the joint body. The wave generator drives the flexspline to deform flexibly. The flexspline and the steel wheel are in meshing transmission connection, and the steel wheel is fixed relative to the joint body. Therefore, the flexspline rotates slowly relative to the joint body and drives the spline nut to rotate. The rotation of the spline nut drives the ball spline to rotate, and the ball spline drives the execution end of the robot to achieve rotational motion. In the robot end driver of the present application, the driving member and the ball spline are arranged at an interval, and the driving member is arranged away from the ball spline. On the one hand, the axial dimension at the ball spline is reduced, and on the other hand, the weight at the ball spline is reduced, thereby improving the performance of the robot such as speed and cycle time. The reducer uses the internal space of the flexspline to install the first bearing, further reducing the axial dimension at the ball spline, increasing the working space of the ball spline, and facilitating the reasonable selection of the ball spline. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 is a block diagram of a robot provided by an embodiment of the present application.

[0020] Figure 2 is Figure 1 a simplified structural schematic diagram of the robot shown.

[0021] Figure 3 is a structural schematic diagram of a robot end driver provided by an embodiment of the present application.

[0022] Figure 4 is Figure 3 a sectional structural schematic diagram of the robot end driver shown.

[0023] Figure 5 is Figure 4 an enlarged structural schematic diagram of part A in

[0024] Figure 6 is Figure 4 an enlarged structural schematic diagram of part B in

[0025] Description of reference numerals: 100, robot end effector; 10, speed reducer; 12, steel wheel; 121, first fastener; 13, fourth bearing; 14, flexspline; 141, first cylindrical part; 142, second fastener; 143, outer edge part; 15, installation space; 16, wave generator; 161, hollow hole; 163, first end; 164, second end; 165, first oil seal installation part; 167, second bearing installation part; 168, second oil seal installation part; 169, third bearing installation part; 18, elastic preloading member; 19, first bearing; 20, first fixing seat; 21, installation cavity; 22, second bearing; 23, first installation surface; 232, first limiting part; 30, drive assembly; 32, drive member; 34, synchronous belt; 36, synchronous pulley; 40, first oil seal; 50, second fixing seat; 52, second installation surface; 521, second limiting part; 60, second oil seal; 70, third bearing; 110, adapter flange; 200, robot; 201, joint body; 2012, first joint arm; 2014, second joint arm; 203, execution end; 205, base; 207, ball spline; 209, spline nut. Detailed implementation manners

[0026] In order to enable those skilled in the art of the present technology to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of this application.

[0027] As used in the specification and claims, certain terms are used to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not distinguish components by the difference in name, but by the difference in function of the components. As mentioned throughout the specification and claims, "including" is an open-ended term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve the technical effect.

[0028] Please refer to Figure 1 , the embodiment of this application provides a robot end effector 100, and the robot end effector 100 can be applied to a robot 200.

[0029] This specification does not limit the specific type of the robot 200. For example, the robot 200 can be an industrial robotic arm or a collaborative robot. In this embodiment, the robot 200 is a cylindrical coordinate type industrial robot. The robot 200 may include a joint body 201, a robot end effector 100, and an execution end 203. The robot end effector 100 is connected between the joint body 201 and the execution end 203, and is configured to drive the execution end 203 to move relative to the joint body 201 under the drive of the joint body 201.

[0030] Please refer to Figure 2 , this specification does not limit the specific structure of the robot 200. As an example, the robot 200 may further include a base 205, a ball spline 207, and a spline nut 209. The base 205 can be disposed on the workbench of the application environment of the robot 200, and is used to mount the joint body 201. The joint body 201 is rotatably disposed on the base 205 and may include a first joint arm 2012 and a second joint arm 2014. The first joint arm 2012 is rotatably connected between the second joint arm 2014 and the base 205. When the first joint arm 2012 rotates relative to the base 205, it can drive the second joint arm 2014 to rotate. The ball spline 207 is connected to the joint body 201. Specifically, the ball spline 207 is connected to one end of the second joint arm 2014 away from the first joint arm 2012. The spline nut 209 is sleeved on the ball spline 207 and is connected to the ball spline 207.

[0031] Please also refer to Figure 3 and Figure 4 , in this embodiment, the robot end effector 100 is connected to the joint body 201 (as shown in Figure 2 ), and the robot end effector 100 may include a speed reducer 10 and a driving member 32. Among them, the speed reducer 10 may include a steel wheel 12, a flexspline 14, a wave generator 16, and a first bearing 19. The steel wheel 12 is used to connect to the joint body 201. The flexspline 14 is rotatably connected inside the steel wheel 12 and fixed to the spline nut 209. The wave generator 16 is rotatably connected inside the flexspline 14. The wave generator 16 is provided with a hollow hole 161, and the wave generator 16 is sleeved outside the ball spline 207 through the hollow hole 161. An installation space 15 is formed between the flexspline 14 and the wave generator 16. The first bearing 19 is connected between the flexspline 14 and the wave generator 16 and is located in the installation space 15. The driving member 32 is in transmission connection with the wave generator 16 and is configured to drive the wave generator 16 to rotate. The driving member 32 is adapted to be spaced apart from the ball spline 207.

[0032] In use, the driving member 32 drives the wave generator 16 to rotate relative to the joint body 201. The wave generator 16 drives the flexible spline 14 to deform flexibly. The flexible spline 14 is in meshing transmission connection with the rigid spline 12, and the rigid spline 12 is fixed relative to the joint body 201. Therefore, the flexible spline 14 rotates at a low speed relative to the joint body 201 and drives the spline nut 209 to rotate. The rotation of the spline nut 209 drives the ball spline 207 to rotate, and the ball spline 207 drives the execution end 203 to achieve a rotational motion. In the robot end effector 100 of the present application, the driving member 32 and the ball spline 207 are arranged at intervals, and the driving member 32 is arranged away from the ball spline 207. On the one hand, the axial dimension at the ball spline 207 is reduced, and on the other hand, the weight at the ball spline 207 is reduced, thereby improving the performance of the robot 200 such as speed and cycle time. The speed reducer 10 utilizes the internal space (installation space 15) of the flexible spline 14 to install the first bearing 19, further reducing the axial dimension at the ball spline 207, increasing the working space of the ball spline 207, and facilitating the reasonable selection of the ball spline 207.

[0033] Please also refer to Figure 2 and Figure 4 In this embodiment, the robot end effector 100 may further include a first fixing seat 20. The first fixing seat 20 is connected to the joint body 201 and is used for installing the speed reducer 10. Specifically, the first fixing seat 20 is fixedly connected to the second joint arm 2014. For example, it can be connected to the second joint arm 2014 by screws. The first fixing seat 20 is sleeved outside the wave generator 16, and the first fixing seat 20 is rotatably connected to the wave generator 16. An installation cavity 21 for installing the structure of the speed reducer 10 may be provided inside the first fixing seat 20, and the rigid spline 12 is accommodated in the installation cavity 21 and fixedly connected to the first fixing seat 20.

[0034] Please also refer to Figure 4 and Figure 5 The first fixing seat 20 is sleeved outside the wave generator 16, and structures such as the rigid spline 12 are arranged in the installation cavity 21. The first fixing seat 20 and the rigid spline 12 are in mating connection through a spigot. In order to reduce the possibility of lubricant leakage from the speed reducer 10, in this embodiment, the robot end effector 100 further includes a first oil seal 40. The first oil seal 40 is arranged between the wave generator 16 and the first fixing seat 20, and the first oil seal 40 is sleeved outside the wave generator 16. The setting of the first oil seal 40 reduces the possibility of lubricant leakage from between the first fixing seat 20 and the wave generator 16, improving the running stability of the robot end effector 100.

[0035] The first fixed seat 20 can be rotatably connected to the wave generator 16 through a bearing. For example, in this embodiment, the robot end effector 100 further includes a second bearing 22. The second bearing 22 is disposed between the first fixed seat 20 and the wave generator 16, and the second bearing 22 is sleeved outside the wave generator 16. The second bearing 22 is used to support the wave generator 16, reducing the damage caused by structures such as the driving member 32 that generate external forces to other structures of the wave generator 16 and the speed reducer 10, and improving the rotational connection stability between the first fixed seat 20 and the wave generator 16.

[0036] The first fixed seat 20 has a first mounting surface 23, and the first mounting surface 23 is disposed at a relative interval from the outer peripheral wall of the wave generator 16. Both the first oil seal 40 and the second bearing 22 are disposed between the first mounting surface 23 and the outer peripheral wall of the wave generator 16. In order to improve the mounting stability of the first oil seal 40 and the second bearing 22, in some embodiments, protrusions or grooves and other structures can be provided on the first mounting surface 23 and the outer peripheral wall of the wave generator 16 to limit the first oil seal 40 and the second bearing 22. In this embodiment, the first mounting surface 23 is provided with a first limiting portion 232, and the first limiting portion 232 is integrally formed on the first fixed seat 20 and protrudes relative to the first mounting surface 23. In order to streamline the structure and shorten the axial dimension, the first limiting portion 232 is simultaneously used to limit the first oil seal 40 and the second bearing 22. The first limiting portion 232 is disposed between the first oil seal 40 and the second bearing 22. One side of the first limiting portion 232 abuts against one end of the first oil seal 40, and the other side abuts against one end of the outer ring of the second bearing 22. The first limiting portion 232 can limit the first oil seal 40 and the second bearing 22 simultaneously, without adding other limiting structures, reducing the weight of the robot end effector 100 and shortening the axial dimension.

[0037] In this embodiment, the wave generator 16 is sleeved outside the ball spline 207 and extends along the axial direction X of the ball spline 207. The wave generator 16 serves as an input component of the speed reducer 10, and is used to drive the speed reducer 10 to complete the function of speed reduction and torque increase. The diameter of the hollow hole 161 of the wave generator 16 is larger than the outer diameter of the ball spline 207, and the diameter of the hollow hole 161 can be adjusted according to the requirements in the actual use process. For example, the hollow hole 161 can also be used for laying components such as cables of the robot 200 (as Figure 1 shown). The wave generator 16 has opposite first end 163 and second end 164. The first fixed seat 20 is disposed close to the first end 163, and the first oil seal 40 is disposed between the first end 163 and the first fixed seat 20. The second bearing 22 and the first oil seal 40 are arranged at intervals along the axial direction X of the ball spline 207. The first oil seal 40 is closer to the first end 163 than the second bearing 22, further improving the sealing effect of the first oil seal 40.

[0038] The wave generator 16 is provided with a first oil seal mounting portion 165 and a second bearing mounting portion 167. The first oil seal mounting portion 165 is disposed at the first end 163 and is used for mounting the first oil seal 40. The second bearing mounting portion 167 is disposed on a side of the first oil seal mounting portion 165 close to the second end 164, and the second bearing mounting portion 167 is used for mounting the second bearing 22. Among them, the first oil seal mounting portion 165 can be a protrusion provided on the outer peripheral wall of the wave generator 16, or can be a groove structure formed on the outer peripheral wall of the wave generator 16, or the first oil seal mounting portion 165 can be the surface of the outer peripheral wall of the wave generator 16. Similarly, the second bearing mounting portion 167 can be a protrusion provided on the outer peripheral wall of the wave generator 16, or can be a groove structure formed on the outer peripheral wall of the wave generator 16, or the second bearing mounting portion 167 can be the surface of the outer peripheral wall of the wave generator 16. In this embodiment, both the first oil seal mounting portion 165 and the second bearing mounting portion 167 are the surfaces of the outer peripheral wall of the wave generator 16.

[0039] The first oil seal mounting portion 165 and the second bearing mounting portion 167 are arranged along the axial direction X of the ball spline 207. During installation, the second bearing 22 located inside is usually installed first. To save space, in this embodiment, the diameter of the first oil seal mounting portion 165 is equal to the diameter of the second bearing mounting portion 167, or the diameter of the first oil seal mounting portion 165 is smaller than the diameter of the second bearing mounting portion 167, and the difference between the diameter of the first oil seal mounting portion 165 and the diameter of the second bearing mounting portion 167 is less than or equal to 0.1 mm. For example, the difference between the diameter of the first oil seal mounting portion 165 and the diameter of the second bearing mounting portion 167 can be 0.02 mm, 0.05 mm, 0.07 mm, 0.08 mm, 0.09 mm, 0.1 mm.

[0040] The processing requirements for the first oil seal mounting portion 165 and the second bearing mounting portion 167 are different. The fitting accuracy and processing requirements (such as roughness) of the oil seal mounting surface (the first oil seal mounting portion 165) are significantly higher than those of the bearing mounting surface (the first oil seal mounting portion 165). Therefore, processing forms such as precision grinding and precision turning are usually required. In this embodiment, the diameter of the first oil seal mounting portion 165 is equal to the diameter of the second bearing mounting portion 167, or the diameter of the first oil seal mounting portion 165 is smaller than the diameter of the second bearing mounting portion 167 and the diameter difference between them is small. During processing, different fits can be achieved only by adjusting the processing tolerance. If the diameter of the first oil seal mounting portion 165 is smaller than the diameter of the second bearing mounting portion 167 and the diameter difference between them is small, the step between the first oil seal mounting portion 165 and the second bearing mounting portion 167 is also relatively small, the processing difficulty is lower, and no larger avoidance space in the axial dimension is required, thereby further reducing the axial dimension of the robot end effector 100.

[0041] When the diameter of the first oil seal mounting portion 165 is smaller than that of the second bearing mounting portion 167 and the diameter difference between them is small, even if the first oil seal 40 and the second bearing 22 with the same inner diameter are selected, they can be installed smoothly. When installing the second bearing 22, since the diameter of the second bearing mounting portion 167 is smaller, the mechanical damage to the first oil seal mounting portion 165 during the installation process of the second bearing 22 can be reduced, ensuring the sealing performance of the first oil seal 40. The settings of the first oil seal mounting portion 165 and the second bearing mounting portion 167 have a good supporting effect on the first oil seal 40 and the second bearing 22, achieving a more stable sealing effect, reducing the design cost and possible incidental losses.

[0042] In other embodiments, the sealing function between the first fixed seat 20 and the wave generator 16 can also be realized by other sealing structures. For example, a labyrinth seal, a bearing with a sealing structure can be provided between the first fixed seat 20 and the wave generator 16, or a sealant can be applied on the contact surface between the first fixed seat 20 and the wave generator 16 to prevent the leakage of lubricant.

[0043] In this embodiment, the robot end effector 100 may further include a second fixed seat 50. The second fixed seat 50 is sleeved outside the wave generator 16 and fixedly connected to the flexspline 14. Specifically, the second fixed seat 50 is disposed close to the second end 164 of the wave generator 16. The second fixed seat 50 is rotatably connected to the wave generator 16. The second fixed seat 50 is at least partially received in the installation cavity 21, improving the structural compactness of the speed reducer 10 and further shortening the axial dimension of the speed reducer 10.

[0044] Please also refer to Figure 4 and Figure 6 The robot end effector 100 further includes a second oil seal 60. The second oil seal 60 is disposed between the wave generator 16 and the second fixed seat 50. The second oil seal 60 is sleeved outside the wave generator 16. The second oil seal 60 is disposed between the second end 164 and the second fixed seat 50, reducing the possibility of leakage of the lubricant of the speed reducer 10 between the second fixed seat 50 and the wave generator 16 and improving the operating stability of the robot end effector 100.

[0045] The second fixed seat 50 can be rotatably connected to the wave generator 16 through a bearing. For example, in this embodiment, the robot end effector 100 further includes a third bearing 70. The third bearing 70 is disposed between the second fixed seat 50 and the wave generator 16, and the third bearing 70 is sleeved outside the wave generator 16. The third bearing 70 is used to support the wave generator 16, reducing the damage caused by structures such as the driving member 32 generating external forces to other structures of the wave generator 16 and the speed reducer 10, and improving the rotational connection stability between the second fixed seat 50 and the wave generator 16. The third bearing 70 and the second oil seal 60 are arranged at intervals along the axial direction X, and the third bearing 70 is located between the second oil seal 60 and the second bearing 22.

[0046] The second fixed seat 50 has a second mounting surface 52, and the second mounting surface 52 is disposed opposite and spaced apart from the outer peripheral wall of the wave generator 16. Both the third bearing 70 and the second oil seal 60 are disposed between the second mounting surface 52 and the outer peripheral wall of the wave generator 16. To improve the mounting stability of the third bearing 70 and the second oil seal 60, in some embodiments, protrusions or grooves and other structures can be provided on the second mounting surface 52 and the outer peripheral wall of the wave generator 16 to limit the third bearing 70 and the second oil seal 60. In this embodiment, the second mounting surface 52 is provided with a second limiting portion 521, and the second limiting portion 521 is integrally formed on the first fixed seat 20 and protrudes relative to the second mounting surface 52. To streamline the structure and shorten the axial dimension, the second limiting portion 521 is also used to limit the first oil seal 40 and the second bearing 22. The second limiting portion 521 is disposed between the third bearing 70 and the second oil seal 60. One side of the second limiting portion 521 abuts against one end of the second oil seal 60, and the other side abuts against one end of the outer ring of the third bearing 70. The second limiting portion 521 can limit the second oil seal 60 and the third bearing 70 at the same time, without adding other limiting structures, reducing the weight of the robot end effector 100 and shortening the axial dimension.

[0047] In this embodiment, the speed reducer 10 may further include an elastic preloading member 18, and the elastic preloading member 18 is disposed between the third bearing 70 and the second limiting portion 521. The elastic preloading member 18 is used to position the third bearing 70. This specification does not limit the specific type of the elastic preloading member 18. For example, the elastic preloading member 18 can be a spring, an elastic washer, etc. In this embodiment, the elastic preloading member 18 is a wave spring. The elastic preloading member 18 positions the wave generator 16 and the third bearing 70, giving the wave generator 16 and the third bearing 70 a certain preloading force and maintaining their positions during operation. The number of the elastic preloading members 18 can be set to one or multiple, and the types of the multiple elastic preloading members 18 can be different.

[0048] The wave generator 16 is provided with a second oil seal mounting portion 168 and a third bearing mounting portion 169. The second oil seal mounting portion 168 is disposed at the second end 164 and is used for mounting the second oil seal 60. The third bearing mounting portion 169 is disposed on one side of the second oil seal mounting portion 168 close to the first end 163, and the third bearing mounting portion 169 is used for mounting the third bearing 70. Among them, the second oil seal mounting portion 168 may be a protrusion provided on the outer peripheral wall of the wave generator 16, or may be a groove structure formed on the outer peripheral wall of the wave generator 16, or the second oil seal mounting portion 168 may be the surface of the outer peripheral wall of the wave generator 16. Similarly, the third bearing mounting portion 169 may be a protrusion provided on the outer peripheral wall of the wave generator 16, or may be a groove structure formed on the outer peripheral wall of the wave generator 16, or the third bearing mounting portion 169 may be the surface of the outer peripheral wall of the wave generator 16. In this embodiment, both the second oil seal mounting portion 168 and the third bearing mounting portion 169 are the surfaces of the outer peripheral wall of the wave generator 16.

[0049] The second oil seal mounting portion 168 and the third bearing mounting portion 169 are arranged along the axial direction X of the ball spline 207. During installation, the third bearing 70 located inside is usually installed first. To save space, in this embodiment, the diameter of the second oil seal mounting portion 168 is equal to the diameter of the third bearing mounting portion 169, or the diameter of the second oil seal mounting portion 168 is smaller than the diameter of the third bearing mounting portion 169, and the difference between the diameter of the second oil seal mounting portion 168 and the diameter of the third bearing mounting portion 169 is less than or equal to 0.1 mm. For example, the difference between the diameter of the second oil seal mounting portion 168 and the diameter of the third bearing mounting portion 169 may be 0.02 mm, 0.05 mm, 0.07 mm, 0.08 mm, 0.09 mm, 0.1 mm.

[0050] The processing requirements for the second oil seal mounting portion 168 and the third bearing mounting portion 169 are different. The fitting accuracy and processing requirements (such as roughness) of the oil seal mounting surface (the second oil seal mounting portion 168) are significantly higher than those of the bearing mounting surface (the second oil seal mounting portion 168). Therefore, processing forms such as precision grinding and precision turning are usually required. In this embodiment, the diameter of the second oil seal mounting portion 168 is equal to the diameter of the third bearing mounting portion 169, or the diameter of the second oil seal mounting portion 168 is smaller than the diameter of the third bearing mounting portion 169 and the diameter difference between the two is small. During processing, different fits can be achieved only by adjusting the processing tolerance. If the diameter of the second oil seal mounting portion 168 is smaller than the diameter of the third bearing mounting portion 169 and the diameter difference between the two is small, the step between the second oil seal mounting portion 168 and the third bearing mounting portion 169 is also relatively small, and the processing difficulty is lower, and there is no need for a larger avoidance space in the axial dimension, thereby further reducing the axial dimension of the robot end effector 100.

[0051] When the diameter of the second oil seal mounting portion 168 is smaller than the diameter of the third bearing mounting portion 169 and the diameter difference between them is small, even if the second oil seal 60 and the third bearing 70 with the same inner diameter are selected, they can be smoothly installed. When installing the third bearing 70, since the diameter of the third bearing mounting portion 169 is smaller, mechanical damage to the second oil seal mounting portion 168 during the installation process of the third bearing 70 can be reduced, ensuring the sealing performance of the second oil seal 60. The arrangements of the second oil seal mounting portion 168 and the third bearing mounting portion 169 have a good supporting effect on the second oil seal 60 and the third bearing 70, achieving a more stable sealing effect and reducing the design cost and possible collateral losses.

[0052] Both the second oil seal 60 and the third bearing 70 are arranged in the installation space 15, improving the utilization rate of the internal space of the speed reducer 10, further reducing the axial dimension at the ball spline 207, and increasing the working space of the ball spline 207.

[0053] In this embodiment, the speed reducer 10 is arranged between the driving member 32 and the spline nut 209, and is used to increase the load and inertia of the robot 200. The specific type of the speed reducer 10 is not limited in this specification. For example, the speed reducer 10 can be a "cap-type" speed reducer 10 or a "cup-type" speed reducer 10.

[0054] In Figure 4 In the shown embodiment, the speed reducer 10 is a "cap-type" speed reducer 10. Specifically, in this embodiment, the steel wheel 12 is generally annular and is sleeved outside the wave generator 16. The speed reducer 10 may further include a fourth bearing 13 arranged between the steel wheel 12 and the flexspline 14. The steel wheel 12 is connected to the inner ring of the first fixed seat 20 and the fourth bearing 13 through the first fastener 121. The specific structure of the first fastener 121 is not limited in this specification. In this embodiment, the first fastener 121 is a screw. The first fastener 121 sequentially passes through the first fixed seat 20, the steel wheel 12, and the inner ring of the fourth bearing 13 along the axial direction X of the ball spline 207, thereby tightly connecting the first fixed seat 20, the steel wheel 12, and the inner ring of the fourth bearing 13.

[0055] The flexspline 14 is rotatably connected inside the circular spline 12 and connected to the spline nut 209 through the second fastener 142. In this embodiment, the above "cap type" is understood as the shape of the flexspline 14 being "cap type". Specifically, the flexspline 14 includes a first cylindrical portion 141 and an outer edge portion 143. The first cylindrical portion 141 is generally cylindrical. One end of it is rotatably connected inside the circular spline 12. The first cylindrical portion 141 surrounds the wave generator 16. An installation space 15 as described above is formed between the inner wall of the first cylindrical portion 141 and the wave generator 16. The first bearing 19 is arranged between the first cylindrical portion 141 and the wave generator 16. The first cylindrical portion 141 is arranged between the first fixed seat 20 and the spline nut 209. The outer edge portion 143 is connected to the end of the first cylindrical portion 141 away from the circular spline 12. The outer edge portion 143 radially protrudes relative to the outer peripheral edge of the first cylindrical portion 141 to form a "cap type" component with the first cylindrical portion 141. Further, the outer edge portion 143 is located between the fourth bearing 13 and the second fixed seat 50. The outer edge portion 143 is in mating connection with the second fixed seat 50 through a spigot and is connected to the outer ring of the fourth bearing 13 and the second fixed seat 50 through the second fastener 142. The present specification does not limit the specific structure of the second fastener 142. In this embodiment, the second fastener 142 is a screw. The second fastener 142 sequentially passes through the outer ring of the fourth bearing 13, the outer edge portion 143, and the second fixed seat 50 along the axial direction X of the ball spline 207, thereby tightly connecting the outer ring of the fourth bearing 13, the outer edge portion 143, and the second fixed seat 50 together.

[0056] The flexspline 14 will deform during the operation of the speed reducer 10. The size of the second fixed seat 50 needs to be designed according to the size of the deformation of the flexspline 14 during actual use so that it will not have an interference area with the deformation range of the flexspline 14 during operation.

[0057] To reduce the lubricant leakage of the reducer 10, the robot end effector 100 may also be provided with other sealing structures. For example, sealing washers are provided between the first fixing seat 20 and the steel wheel 12, and between the second fixing seat 50 and the flexspline 14. Specifically, the robot end effector 100 may further include two sealing washers, one of which is elastically disposed between the first fixing seat 20 and the steel wheel 12, and the other is elastically disposed between the second fixing seat 50 and the flexspline 14. A groove for accommodating the sealing washer is formed on the side of the first fixing seat 20 facing the steel wheel 12, and a groove for accommodating the sealing washer may also be formed on the side of the second fixing seat 50 facing the flexspline 14. The sealing washer reduces the possibility of the lubricant of the reducer 10 leaking between the first fixing seat 20 and the steel wheel 12, and between the second fixing seat 50 and the flexspline 14. The sealing washer may be an O-ring or a star-shaped sealing ring. The number of the sealing washers between the first fixing seat 20 and the steel wheel 12 may be one or multiple. If the number of the sealing washers between the first fixing seat 20 and the steel wheel 12 is multiple, the types of the multiple sealing washers may be different, and the multiple sealing washers are arranged radially along the ball spline 207 on the side of the first fixing seat 20 facing the flexspline 14.

[0058] In this embodiment, the reducer 10 is a harmonic reducer applied to an industrial robot. In other embodiments, the setting of the hollow hole 161 of the reducer 10 can also be applicable to planetary reducers, RV reducers (worm and worm gear reducers), etc., or the reducer 10 can also be applied to reducers with different principles in other fields, including but not limited to worm and worm gear, chain, synchronous belt and other deceleration or acceleration forms. The reducer 10 can be not only applied to the robot 200, but also in some embodiments, the reducer 10 can be applied to other non-robot transmission fields, such as mixing devices, hydraulic devices and other equipment.

[0059] The spline nut 209 is sleeved outside the ball spline 207 and is disposed near the second end 164 of the wave generator 16, and the spline nut 209 is connected to the second fixing seat 50. In this application, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or indirectly connected through an intermediate medium, and it can also be the communication inside two components, or only surface contact. The spline nut 209 and the second fixing seat 50 can be directly connected or indirectly connected through an intermediate medium. In this embodiment, the robot end effector 100 may further include an adapter flange 110, and the second fixing seat 50 is indirectly connected to the spline nut 209 through the adapter flange 110.

[0060] The adapter flange 110 is sleeved outside the spline nut 209 and abuts against the second fixing seat 50. The spline nut 209 and the second fixing seat 50 may be provided with protruding structures to respectively cooperate with the stop of the adapter flange 110, so as to improve the concentricity among the three. The adapter flange 110 and the spline nut 209 can be fastened by screws. The second fastener 142 is sequentially passed through the outer ring of the fourth bearing 13, the outer edge portion 143, the second fixing seat 50 and the adapter flange 110 along the axial direction X of the ball spline 207, so as to tightly connect the outer ring of the fourth bearing 13, the outer edge portion 143, the second fixing seat 50 and the adapter flange 110.

[0061] Please refer to again Figure 2 and Figure 3 , in this embodiment, the robot end effector 100 further includes a driving assembly 30. The driving assembly 30 is used to drive the ball spline 207 to rotate relative to the joint body 201, so as to realize the rotational movement of the execution end 203. The driving assembly 30 may include a synchronous belt 34, two synchronous belt pulleys 36 and the above-mentioned driving member 32. The driving member 32 is used to be connected to the joint body 201. One synchronous belt pulley 36 is drivingly connected to the driving member 32, and the other synchronous belt pulley 36 is rotationally fixed to the wave generator 16. The synchronous belt 34 is connected between the two synchronous belt pulleys 36. The driving member 32 drives one synchronous belt pulley 36 to rotate, and this synchronous belt pulley 36 drives the other synchronous belt pulley 36 to rotate through the synchronous belt 34, so as to drive the wave generator 16 of the speed reducer 10 to rotate. The wave generator 16 drives the spline nut 209 to rotate through the flexible gear 14 (as Figure 4 shown), and finally drives the ball spline 207 to realize the rotational movement.

[0062] The driving member 32 is arranged at one end of the second joint arm 2014 close to the first joint arm 2012, and is spaced from the ball spline 207. The driving member 32 drives the ball spline 207 through the synchronous belt 34 and the synchronous belt pulley 36. It does not need to be directly installed at the ball spline 207, and can be arranged away from the ball spline 207. Thus, the weight of the end of the robot 200 (the end where the ball spline 207 is located) is reduced, and the performance such as speed and cycle time is improved. At the same time, the driving member 32 being arranged away from the ball spline 207 can also reduce the electrical installation cost, save the cable size and reduce the weight of the cable at the end of the robot 200.

[0063] This specification does not limit the specific type of the driving member 32. For example, the driving member 32 may be a driving source such as a rotary motor, a rotary cylinder, a motor, etc. In this embodiment, the driving member 32 adopts a rotary motor. The driving member 32 does not need to select a hollow motor to be directly connected to the ball spline 207. Therefore, the driving member 32 can select a motor with a common structure, which has the advantages of being easy to seal compared with the hollow motor, and also has the advantages of cost and supply chain.

[0064] In summary, when the robot end driver 100 provided in the embodiment of the present application is used, the driving member 32 drives the wave generator 16 to rotate relative to the joint body 201, the wave generator 16 drives the flexible wheel 14 to deform flexibly, the flexible wheel 14 and the steel wheel 12 are meshed and connected, and the steel wheel 12 is fixed relative to the joint body 201, so the flexible wheel 14 rotates at a low speed relative to the joint body 201, and drives the spline nut 209 to rotate. The rotation of the spline nut 209 drives the ball spline 207 to rotate, and the ball spline 207 drives the actuator 203 to achieve rotational motion. In the robot end driver 100 of the present application, the driving member 32 is spaced apart from the ball spline 207, and the driving member 32 is arranged away from the ball spline 207. On the one hand, the axial dimension at the ball spline 207 is reduced, and on the other hand, the weight at the ball spline 207 is reduced, thereby improving the performance of the robot 200, such as the speed and beat time. The reducer 10 uses the internal space (installation space 15 ) of the flexible wheel 14 to install the first bearing 19 , further reducing the axial dimension of the ball spline 207 , thereby increasing the working space of the ball spline 207 and facilitating the reasonable selection of the ball spline 207 .

[0065] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not drive the essence of the corresponding technical solutions out of the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot end driver, applied to a robot, the robot comprising a ball spline and a spline nut, the ball spline being used to be connected to a joint body of the robot, the spline nut being sleeved on the ball spline and connected to the ball spline, characterized in that: The robot end drive comprises: A reducer, the reducer is sleeved on the ball spline, and the reducer comprises: A steel wheel, used for connecting to the joint body; A flexible wheel, rotatably connected to the steel wheel and used for fixed connection to the spline nut; A wave generator is rotatably connected to the flexible wheel, the wave generator is provided with a hollow hole, the wave generator is sleeved outside the ball spline through the hollow hole, and an installation space is formed between the flexible wheel and the wave generator; and a first bearing connected between the flexspline and the wave generator and located in the installation space; And a driving member is drivingly connected to the wave generator and used for driving the wave generator to rotate, and the driving member is suitable for being spaced apart from the ball spline.

2. The robot end driver according to claim 1, characterized in that: The robot end driver also includes a first fixing seat, which is used to be connected to the joint body. The first fixing seat is sleeved outside the wave generator, and the steel wheel is fixedly connected to the first fixing seat.

3. The robot end driver according to claim 2, characterized in that: The robot end driver also includes a first oil seal and a second bearing, wherein the first oil seal is arranged between the first fixed seat and the wave generator, and the first oil seal is sleeved outside the wave generator; the second bearing is arranged between the first fixed seat and the wave generator, and the second bearing is sleeved outside the wave generator.

4. The robot end driver according to claim 3, characterized in that: The wave generator has a first end and a second end opposite to each other, and is provided with a first oil seal mounting portion and a second bearing mounting portion, wherein the first oil seal mounting portion is arranged at the first end, and the second bearing mounting portion is located on a side of the first oil seal mounting portion close to the second end; the first oil seal is mounted on the first oil seal mounting portion, and the second bearing is mounted on the second bearing mounting portion.

5. The robot end driver according to claim 4, characterized in that: The diameter of the first oil seal mounting portion is equal to the diameter of the second bearing mounting portion; or, The diameter of the first oil seal mounting portion is smaller than the diameter of the second bearing mounting portion, and the difference between the diameter of the first oil seal mounting portion and the diameter of the second bearing mounting portion is less than or equal to 0.1 mm.

6. The robot end driver according to claim 1, characterized in that: The robot end driver also includes a second fixing seat, which is sleeved outside the wave generator and fixedly connected to the flexible wheel.

7. The robot end driver according to claim 6, characterized in that: The robot end driver also includes a second oil seal and a third bearing, the second oil seal is arranged between the second fixed seat and the wave generator, and the second oil seal is sleeved outside the wave generator; the third bearing is arranged between the second fixed seat and the wave generator, and the third bearing is sleeved outside the wave generator.

8. The robot end driver according to claim 7, characterized in that: The wave generator has a first end and a second end opposite to each other, and is provided with a second oil seal mounting portion and a third bearing mounting portion, wherein the second oil seal mounting portion is arranged at the second end, and the third bearing mounting portion is located on a side of the second oil seal mounting portion close to the first end; the second oil seal is mounted on the second oil seal mounting portion, and the third bearing is mounted on the third bearing mounting portion.

9. The robot end driver according to claim 8, characterized in that: The diameter of the second oil seal mounting portion is equal to the diameter of the third bearing mounting portion; or, The diameter of the second oil seal mounting portion is smaller than the diameter of the third bearing mounting portion, and the difference between the diameter of the second oil seal mounting portion and the diameter of the third bearing mounting portion is less than or equal to 0.1 mm.

10. The robot end driver according to claim 7, characterized in that: The second oil seal and the third bearing are both arranged in the installation space.

11. The robot end actuator according to any one of claims 1 to 10, characterized in that: The robot end drive also includes a synchronous belt and two synchronous pulleys. The driving member is used to be connected to the joint body. One of the synchronous pulleys is transmission-connected to the driving member, and the other synchronous pulley is non-rotatably connected to the wave generator. The synchronous belt is connected between the two synchronous pulleys.

12. A robot, characterized in that: include: Joint body; as well as The robot end driver according to any one of claims 1 to 11, wherein the robot end driver is connected to the joint body.

Images